吴智政, 陈陆平, 席裕庚. 多杆柔性关节机械手轨迹规划的次优化方法[J]. 机器人, 1997, 19(1): 44-49.
引用本文: 吴智政, 陈陆平, 席裕庚. 多杆柔性关节机械手轨迹规划的次优化方法[J]. 机器人, 1997, 19(1): 44-49.
WU Zhizheng, CHEN Luping, XI Yugeng. A SUBOPTIMAL APPROACH TO TRAJECTORY PLANNING OF MULTI-LINK FLEXIBLE-JOINT ROBOTS[J]. ROBOT, 1997, 19(1): 44-49.
Citation: WU Zhizheng, CHEN Luping, XI Yugeng. A SUBOPTIMAL APPROACH TO TRAJECTORY PLANNING OF MULTI-LINK FLEXIBLE-JOINT ROBOTS[J]. ROBOT, 1997, 19(1): 44-49.

多杆柔性关节机械手轨迹规划的次优化方法

A SUBOPTIMAL APPROACH TO TRAJECTORY PLANNING OF MULTI-LINK FLEXIBLE-JOINT ROBOTS

  • 摘要: 本文对多杆柔性关节机械手的轨迹规划问题进行了研究.首先利用逆系统解耦方法把这一有约束非线性规划问题转化为多个子系统的线性规划问题,然后通过子系统线性规划问题的解析最优解构造了多杆柔性关节机械手轨迹规划的次优化解.

     

    Abstract: In this paper, a suboptimal approach to trajectory planning of multi-link flexible-joint robots is studied. An invertibility-decoupling technique is first applied to the transformation the nonlinear constrained planning problem into a linear planning problem of the sub-systems. Then based on the unique analytic optimal solution in closed form to the sub-systems, the suboptimal solution to the robot is obtained.

     

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